using HslCommunication;
using Microsoft.EntityFrameworkCore;
using System;
using System.Linq;
using System.Threading;
using System.Threading.Tasks;
using WIDESEA_Common;
using WIDESEA_Common.DBHelper;
using WIDESEA_Common.Tools;
using WIDESEA_Core.EFDbContext;
using WIDESEA_Entity.DomainModels;
using WIDESEA_Services.IRepositories;
using WIDESEA_Services.Repositories;
using WIDESEA_WCS.EquipBaseInfo;
using WIDESEA_WCS.WCSClient;

namespace WIDESEA_WCS.SchedulerExecute.AGV
{
    public partial class AGVSchedulerExecute
    {
        private static int _readSendAGVTaskSignalso = 0;
        private static bool isTrue1 = false;
        private static string name1 = "";
        public static void SendAGVTask1(PLCClient plcClient)
        {

            try
            {
                if (plcClient == null) { return; }

                VOLContext context = new VOLContext();
                Idt_agvtaskRepository agvtaskRepository = new dt_agvtaskRepository(context);
                Ibase_ware_locationRepository locationRepository = new base_ware_locationRepository(context);
                int TaskInteractive = Convert.ToInt32(plcClient.ReadValue(TaskDBName.taskInteractiveR.ToString()));//1收到
                int TaskInteractiveW = Convert.ToInt32(plcClient.ReadValue(TaskDBName.taskInteractiveW.ToString()));//0初始/1下发/2取消/3更改
                int resetTaskInteractiveW = Convert.ToInt32(plcClient.ReadValue(TaskDBName.resetTaskInteractiveW.ToString()));

                if (TaskInteractive == 0 && TaskInteractiveW == 0)
                {
                    dt_agvtask agvTask = agvtaskRepository.Find(r => r.agv_taskstate == "Create" && r.agv_code == plcClient.PLCName && r.agv_tasktype.Contains("TaskType_Outbound")).OrderBy(r => r.agv_createtime).OrderByDescending(r => r.agv_grade).FirstOrDefault();
                    if (null != agvTask)
                    {
                        //写入任务信息
                        string rel = AGVBaseInfo.TaskWrite(plcClient, agvTask, AGVJobEnum.newTaskEnum);

                        if (string.IsNullOrEmpty(rel))
                        {
                            Thread.Sleep(500);
                            for (int i = 0; i < 5; i++)
                            {
                                Thread.Sleep(200);
                                string taskId = plcClient.ReadValue(TaskDBName.taskID.ToString()).ToString();
                                if (taskId != agvTask.agv_tasknum)
                                {
                                    if (i < 4)
                                        AGVBaseInfo.TaskWrite(plcClient, agvTask, AGVJobEnum.newTaskEnum);
                                    else
                                        return;
                                }
                                else
                                {
                                    break;
                                }
                            }
                            //写入任务确认1
                            bool taskInteractiveW = plcClient.WriteValue(TaskDBName.taskInteractiveW.ToString(), 1);
                            for (int i = 0; i < 5; i++)
                            {
                                Thread.Sleep(200);
                                object readValue = plcClient.ReadValue(TaskDBName.taskInteractiveW.ToString());
                                if (readValue != null && readValue.ToString() == "1")
                                {
                                    break;
                                }
                                else
                                {
                                    plcClient.WriteValue(TaskDBName.taskInteractiveW.ToString(), 1);
                                }
                            }
                        }
                    }
                }
                else if (TaskInteractive == 11 && TaskInteractiveW == 1)
                {
                    plcClient.WriteValue(TaskDBName.taskInteractiveW.ToString(), 0);
                    for (int i = 0; i < 5; i++)
                    {
                        Thread.Sleep(200);
                        object readValue = plcClient.ReadValue(TaskDBName.taskInteractiveW.ToString());
                        if (readValue != null && readValue.ToString() == "0")
                        {
                            break;
                        }
                        else
                        {
                            plcClient.WriteValue(TaskDBName.taskInteractiveW.ToString(), 0);
                        }
                    }
                }
                else if (1 == TaskInteractive && TaskInteractiveW == 1)
                {
                    string taskId = plcClient.ReadValue(TaskDBName.taskID.ToString()).ToString();
                    var agvTask = agvtaskRepository.FindFirst(x => x.agv_tasknum == taskId);
                    if (agvTask != null)
                    {
                        if (agvTask.agv_taskstate != AGVTaskStateEnum.SendOut.ToString())
                            agvTask.agv_taskstate = AGVTaskStateEnum.SendOut.ToString();
                        agvTask.agv_realesstime = DateTime.Now;
                        agvtaskRepository.Update(agvTask, true);
                        plcClient.WriteValue(TaskDBName.taskInteractiveW.ToString(), 0);
                        for (int i = 0; i < 5; i++)
                        {
                            Thread.Sleep(200);
                            object readValue = plcClient.ReadValue(TaskDBName.taskInteractiveW.ToString());
                            if (readValue != null && readValue.ToString() == "0")
                            {
                                break;
                            }
                            else
                            {
                                plcClient.WriteValue(TaskDBName.taskInteractiveW.ToString(), 0);
                            }
                        }
                    }
                }

            }
            catch (Exception ex)
            {
                //throw new Exception(ex.Message);
                WriteLog.Info($"{plcClient.PLCName}SendAGVTask").Write(ex.Message, $"{plcClient.PLCName}SendAGVTask");
            }

        }

        private static void updateloction(dt_agvtask aTask, Ibase_ware_locationRepository locationRepository, Idt_agvtaskRepository agvtaskRepository)
        {
            if (aTask != null)
            {
                if (aTask.agv_toaddress.Contains("HCJ") && aTask.agv_fromaddress.Contains("SB"))
                {
                    if (aTask.agv_remark.Contains("辊分下料任务"))
                    {
                        if (aTask.agv_toaddress.Contains("ZJ-GFHCJ10-"))
                        {
                            string NUM = aTask.agv_toaddress.Remove(11) + "4";
                            base_ware_location location = locationRepository.FindFirst(x => x.upper_code == NUM);
                            if (location != null)
                            {
                                string lotionCode = aTask.agv_toaddress.Remove(11);
                                dt_agvtask Agvtask = agvtaskRepository.FindFirst(d => d.agv_tasknum != aTask.agv_tasknum && d.agv_toaddress.Contains(lotionCode));
                                if (Agvtask == null)
                                {
                                    location.logic_col = 0;
                                    location.logic_row = "0";
                                    location.task = 2;
                                    locationRepository.Update(location, x => new { x.logic_col, x.logic_row, x.task }, true);
                                }
                            }
                        }
                        else
                        {
                            string NUM = aTask.agv_toaddress.Remove(10) + "4";
                            base_ware_location location = locationRepository.FindFirst(x => x.upper_code == NUM);
                            if (location != null)
                            {
                                string lotionCode = aTask.agv_toaddress.Remove(10);
                                dt_agvtask Agvtask = agvtaskRepository.FindFirst(d => d.agv_tasknum != aTask.agv_tasknum && d.agv_toaddress.Contains(lotionCode));
                                if (Agvtask == null)
                                {
                                    location.logic_col = 0;
                                    location.logic_row = "0";
                                    location.task = 2;
                                    locationRepository.Update(location, x => new { x.logic_col, x.logic_row, x.task }, true);
                                }
                            }
                        }

                    }
                    else
                    {
                        base_ware_location location = locationRepository.FindFirst(x => x.upper_code == aTask.agv_toaddress);
                        location.logic_col = 0;
                        location.logic_row = "0";
                        location.task = 2;
                        locationRepository.Update(location, x => new { x.logic_col, x.logic_row, x.task }, true);
                    }
                }
                else if (aTask.agv_toaddress.Contains("SB") && aTask.agv_fromaddress.Contains("HCJ"))
                {
                    base_ware_location location = locationRepository.FindFirst(x => x.upper_code == aTask.agv_fromaddress);
                    location.logic_col = 0;
                    location.logic_row = "0";
                    location.task = 2;
                    locationRepository.Update(location, x => new { x.logic_col, x.logic_row, x.task }, true);
                }
                else if (aTask.agv_toaddress.Contains("HCJ") && aTask.agv_fromaddress.Contains("HCJ"))
                {
                    base_ware_location location = locationRepository.FindFirst(x => x.upper_code == aTask.agv_toaddress);
                    location.logic_col = 0;
                    location.logic_row = "0";
                    location.task = 2;
                    locationRepository.Update(location, x => new { x.logic_col, x.logic_row, x.task }, true);

                    base_ware_location location1 = locationRepository.FindFirst(x => x.upper_code == aTask.agv_fromaddress);
                    location1.logic_col = 0;
                    location1.logic_row = "0";
                    location1.task = 2;
                    var entry = locationRepository.DbContext.ChangeTracker.Entries<base_ware_location>().FirstOrDefault();
                    if (entry != null)
                    {
                        entry.State = EntityState.Detached;
                    }
                    int a = locationRepository.Update(location1, x => new { x.logic_col, x.logic_row, x.task }, true);
                    if (a != 1)
                    {
                        ////WriteLog.Info("AGV任务反馈5").Write($"任务号:{aTask.agv_tasknum},起点地址:{aTask.agv_fromaddress},修改失败：{a}，时间: {DateTime.Now}", "AGV任务反馈5");
                    }
                }
            }


        }


    }
}